CN112888398B - Main robot and control method thereof - Google Patents

Main robot and control method thereof Download PDF

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Publication number
CN112888398B
CN112888398B CN201980069471.9A CN201980069471A CN112888398B CN 112888398 B CN112888398 B CN 112888398B CN 201980069471 A CN201980069471 A CN 201980069471A CN 112888398 B CN112888398 B CN 112888398B
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angle
arm
degrees
robot
rotatable
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CN112888398A (en
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崔锺度
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Meere Co Inc
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Meere Co Inc
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00212—Electrical control of surgical instruments using remote controls

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a master robot capable of avoiding a dead lock of a universal joint and stably operated by an operator, and a control method thereof. According to the present invention, in order to determine the clearance angle, a method of making it proportional to the first angle and the second angle is used instead of a method of projecting a jacobian (jacobian) into a null-space, so that a gimbal deadlock, in which a degree of freedom of direction is lost in a specific direction, can be avoided.

Description

Main robot and control method thereof
Technical Field
The present invention relates to a master robot capable of avoiding a dead lock of a universal joint and stably operated by an operator, and a control method thereof.
Background
Medical surgery refers to the act of using medical devices to incise, cut, or otherwise manipulate skin, mucous membranes, or other tissue to cure a disease. In particular, laparotomy, which cuts the skin at the operation site to treat, reshape, or resect the internal organs, etc., has recently been popular with operations using robots (robots) because of bleeding, side effects, patient pain, scars, etc.
These surgical robots may be classified into a master (master) robot that generates and transmits a desired signal through manipulation of a doctor, and a slave (slave) robot that receives a signal from a manipulation unit and directly performs necessary operations on a patient, and the master robot and the slave robot may be separated into respective parts of one surgical robot or provided in an operating room in separate devices.
The surgical main robot is equipped with a device for letting a doctor operate, and when performing a robot operation, the main surgeon directly operates not an instrument required for the operation but various instruments mounted on the robot by operating the above-mentioned device.
A main device usually mounted to a main robot is composed of a handle held and moved by a doctor's hand and a main arm mediating the handle and the robot body, and the main arm is composed of an arm (arm) in the form of a multi-joint link connecting the robot body and the handle to be able to support the movement of the handle when the doctor holds the handle to perform a manipulation action of movement, rotation, etc.
In another aspect, the main arm is designed to be movable over a wider range than the movable range of the operator's wrist, and for this purpose, the spare joint is further disposed at the base joint. The spare joint moves with the movement of the operator's wrist at the proper position and speed.
In order to improve the performance of the surgical robot, there is a need for a method of determining the following angle (hereinafter, referred to as a clearance angle) of the spare joint, which ensures the range of movement of the wrist of the operator in the main arm, and which does not generate resistance, and which avoids a gimbal-lock.
Disclosure of Invention
Technical problem
The problem to be solved by the present invention is to provide a method of determining a clearance angle to avoid a gimbal deadlock in a host robot consisting of a plurality of robotic arms.
Another problem to be solved by the present invention is to provide a method of determining a clearance angle so as not to interfere with the movement of the operator.
The problems of the present invention are not limited to the above-described problems, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.
Technical proposal
As means for solving the above technical problems, a master robot according to an embodiment includes: a lower arm (lower arm) mounted to the base unit to be rotatable about a yaw axis; a middle arm (middle arm) mounted to the lower arm to be rotatable about a pitch axis; an upper arm (upper arm) mounted to the intermediate arm to be rotatable about the yaw axis; a handle mounted to the upper arm so as to be rotatable about a roll axis; and a control unit that determines a fourth angle by which the lower arm rotates about the base unit, based on a first angle by which the handle rotates about the upper arm, a second angle by which the upper arm rotates about the intermediate arm, and a third angle by which the intermediate arm rotates about the lower arm.
The control method of the master robot according to an embodiment, wherein the master robot includes: a lower arm (lower arm) mounted to the base unit to be rotatable about a yaw axis; a middle arm (middle arm) mounted to the lower arm to be rotatable about a pitch axis; an upper arm (upper arm) mounted to the intermediate arm to be rotatable about the yaw axis; a handle mounted to the upper arm so as to be rotatable about a roll axis, and comprising the steps of: obtaining a first angle of rotation of the handle about the upper arm; obtaining a second angle of rotation of the upper arm about the intermediate arm; obtaining a third angle of rotation of the intermediate arm about the lower arm; determining a fourth angle of rotation of the lower arm about the base unit as a function of the first angle, the second angle, and the third angle; and controlling the lower arm to rotate the determined fourth angle about the base unit.
Advantageous effects
According to the present invention, in order to determine the clearance angle, a method of making it proportional to the first angle and the second angle is used instead of a method of projecting a jacobian (jacobian) into a null-space, so that a gimbal deadlock, in which a degree of freedom of direction is lost in a specific direction, can be avoided.
In addition, according to the present invention, when the third angle is close to 90 degrees or-90 degrees, the clearance angle is determined to be proportional to the first angle, so that the operator can smoothly manipulate the handle.
Effects according to the present invention are not limited to the contents of the above examples, and more various effects are included in the present specification.
Drawings
Fig. 1 is a plan view showing the overall structure of a surgical robot according to an embodiment of the present invention.
Fig. 2 illustrates a host robot according to an embodiment of the present invention.
Fig. 3 is a drawing simply illustrating each component in the host robot shown in fig. 2 and its connection relationship.
Fig. 4 is a drawing showing a deadlock state of a universal joint.
Fig. 5 and 6 are diagrams showing a state in which the third angle is 90 degrees or-90 degrees.
Fig. 7 and 8 are flowcharts showing an example of a method of determining the clearance angle (fourth angle) by the control unit.
Fig. 9 is a flowchart showing another example of the method of the control unit determining the clearance angle (fourth angle).
Best mode for carrying out the invention
As means for solving the above technical problems, a master robot according to an embodiment includes: a lower arm (lower arm) mounted to the base unit to be rotatable about a yaw axis; a middle arm (middle arm) mounted to the lower arm to be rotatable about a pitch axis; an upper arm (upper arm) mounted to the intermediate arm to be rotatable about the yaw axis; a handle mounted to the upper arm so as to be rotatable about a roll axis; and a control unit that determines a fourth angle by which the lower arm rotates about the base unit, based on a first angle by which the handle rotates about the upper arm, a second angle by which the upper arm rotates about the intermediate arm, and a third angle by which the intermediate arm rotates about the lower arm.
The host robot according to an embodiment, wherein the control unit determines the fourth angle according to the second angle when the third angle has a value similar to 0 degrees.
The host robot according to an embodiment, wherein the control unit determines the fourth angle according to the first angle when the third angle has a value similar to 90 degrees or-90 degrees.
The master robot according to an embodiment, wherein the control unit determines the fourth angle according to a first angular velocity and a second angular velocity, wherein the first angular velocity is a yaw axis component of an angular velocity at which the handle rotates about the upper arm, and the second angular velocity is a yaw axis component of an angular velocity at which the upper arm rotates about the intermediate arm.
The host robot according to an embodiment, wherein the control unit determines the fourth angle as being proportional to the first angular velocity and the second angular velocity.
The host robot according to an embodiment, wherein the control unit determines the fourth angle as being proportional to the first angle and the second angle.
The host robot according to an embodiment, wherein the control unit determines the fourth angle to give a greater weight to the second angle than the first angle so as to be proportional to the second angle when the third angle is close to 0 degrees, and determines the fourth angle to give a greater weight to the first angle than the second angle so as to be proportional to the first angle when the third angle is close to 90 degrees or-90 degrees.
The host robot according to an embodiment, wherein the control unit determines the fourth angle θ4 by the following formula,
(A method of producing the same)
θ 4 ＝k 1 *W 1 *θ 1 +k 2 *W 2 *θ 2
In the equation, θ 1 Is a first angle, θ 2 Is a second angle, k 1 Is a proportionality constant for adjusting the ratio of the fourth angle to the first angle, and k 2 Is a proportionality constant for adjusting the ratio of the fourth angle to the first angle. Fourth angle relative to the second angle, W 1 Is the weight of the first angle, W 2 Is the weight of the second angle.
According to one embodimentWherein when the third angle is close to 0 degrees, the W 1 Has a value close to 0, and the W 2 Has a value close to 1, and when the third angle is close to 90 degrees or-90 degrees, the W 1 Has a value close to 1, and the W 2 Having a value close to 0.
The host robot according to one embodiment, wherein the W 2 Determined by the cos function of the third angle, and the W 1 Is determined to be with the W 2 The sum is 1.
The host robot according to one embodiment, wherein the W 2 Is determined by a polynomial function of the third angle, and the W 1 Is determined to be with the W 2 The sum is 1.
The master robot according to an embodiment, wherein the slave arm to which the surgical tool is mounted is manipulated according to the operation of the handle.
The control method of the master robot according to an embodiment, wherein the master robot includes: a lower arm (lower arm) mounted to the base unit to be rotatable about a yaw axis; a middle arm (middle arm) mounted to the lower arm to be rotatable about a pitch axis; an upper arm (upper arm) mounted to the intermediate arm to be rotatable about the yaw axis; a handle mounted to the upper arm so as to be rotatable about a roll axis, and comprising the steps of: obtaining a first angle of rotation of the handle about the upper arm; obtaining a second angle of rotation of the upper arm about the intermediate arm; obtaining a third angle of rotation of the intermediate arm about the lower arm; determining a fourth angle of rotation of the lower arm about the base unit as a function of the first angle, the second angle, and the third angle; and controlling the lower arm to rotate the determined fourth angle about the base unit.
The control method of a master robot according to an embodiment, wherein when the third angle has a value similar to 0 degrees, the fourth angle is determined by the second angle.
The control method of a master robot according to an embodiment, wherein the fourth angle is determined by the first angle when the third angle has a value similar to 90 degrees or-90 degrees.
The control method of the main robot according to an embodiment, wherein the fourth angle is determined by a first angular velocity and a second angular velocity, wherein the first angular velocity is a yaw axis component of an angular velocity at which the handle rotates about the upper arm, and the second angular velocity is a yaw axis component of an angular velocity at which the upper arm rotates about the intermediate arm.
The control method of the main robot according to an embodiment, wherein the fourth angle is determined so as to be proportional to the first angular velocity and the second angular velocity.
The control method of a main robot according to an embodiment, wherein the fourth angle is determined so as to be proportional to the first angle and the second angle.
The control method of a master robot according to an embodiment, wherein when the third angle is close to 0 degree, the fourth angle is determined to give a greater weight to the second angle than the first angle so as to be proportional to the second angle, and when the third angle is close to 90 degrees or-90 degrees, it is determined to give a greater weight to the first angle than the second angle so as to be proportional to the first angle.
A host robot according to another embodiment includes: a lower arm (lowerarm) mounted to the base unit to be rotatable about a yaw axis; a middle arm (middle arm) mounted to the lower arm to be rotatable about a pitch axis; an upper arm mounted to the intermediate arm to be rotatable about the yaw axis; a handle mounted to the upper arm so as to be rotatable about a roll axis; and a control unit that determines a fourth angle at which the lower arm rotates about the base unit according to a first angular velocity and a second angular velocity, wherein the first angular velocity is a yaw axis component of an angular velocity at which the handle rotates about the upper arm, and the second angular velocity is a yaw axis component of an angular velocity at which the upper arm rotates about the intermediate arm.
The host robot according to another embodiment, wherein the control unit determines the fourth angle as being proportional to the first angular velocity and the second angular velocity.
Detailed Description
Hereinafter, embodiments for example only will be described in detail with reference to the accompanying drawings. Of course, the following description is only for specific embodiments and is not intended to limit the scope of the invention. Those skilled in the art can readily infer from the detailed description and examples that are to be construed as falling within the scope of the claims.
In the present invention, terms such as "comprising" or "including" should not be construed to necessarily include a plurality of technical features or steps described in the specification, but should be construed to possibly not include some technical features or steps or may further include other technical features or steps.
Although general terms currently widely used are selected as terms used in the present specification as much as possible while considering functions in the present invention, they may vary according to the intention, precedent, or appearance of new technologies of those skilled in the art. In addition, in particular cases, some terms are arbitrarily selected by the applicant, and in this case, the meanings thereof will be described in detail in the corresponding summary of the invention. Accordingly, the terms used in the present invention should not be defined simply by the names of the terms, but by the meanings of the terms and the contents in the present invention.
Fig. 1 is a plan view showing the overall structure of a surgical robot according to an embodiment of the present invention.
Referring to fig. 1, a surgical robot 1 includes a slave robot 10 performing a surgery on a patient P lying on an operating table 2 and a master console 20 allowing an operator O to remotely manipulate the slave robot 10. In addition, the surgical robot 1 may include a video system 30. Assistant a may confirm the performance of the procedure via display unit 35 of video system 30.
The slave robot 10 may include one or more robot arms 11. A robot arm generally refers to a device that has a function similar to a human arm and/or wrist and is capable of attaching a predetermined tool to the wrist. In the present specification, the robot arm 11 may be defined as a concept that encompasses technical features such as an upper arm, a lower arm, a wrist, an elbow, and the like, as well as surgical instruments coupled to the wrist, and the like. In this way, the robot arm 11 of the slave robot 10 can be realized to be driven in a plurality of degrees of freedom. The robot arm 11 may be configured to include a surgical instrument such as one inserted into a surgical site of the patient P, a movement driving unit that moves the surgical instrument in a longitudinal direction, a rotation driving unit that rotates the surgical instrument, and a surgical instrument driving unit that is mounted to a distal end of the surgical instrument and cuts or incises a surgical lesion. However, the constitution of the robot arm 11 is not limited thereto, and it should be understood that these examples do not limit the scope of the present invention. Here, a detailed description of the actual control process will be omitted, for example, by the operator O manipulating the joystick to rotate and move the robot arm 11 in the corresponding direction.
One or more slave robots 10 may be used to perform a procedure on the patient P, and the surgical tool 12, which displays the surgical site as a video image through a display unit (not shown), may be implemented as a single slave robot 10.
In addition, as described above, the embodiments of the present invention can be widely used for operations in which various surgical endoscopes (e.g., thoracoscopes, arthroscopes, nasoscopes, etc.) other than laparoscopes are used.
The master control station 20 and slave robot 10 do not necessarily need to be physically separated into separate additional devices, but may be configured to be integrated together.
The main console 20 includes a main robot (100 of fig. 2) and a display unit (not shown). In addition, the main console 20 may further include an external display device 25, which may additionally display the status of the operator O on the outside.
In detail, the main console 20 includes a main robot so that the operator O can manipulate. The master robot may be implemented to have one or more handles, and an operation signal of the operator O manipulating the handles is transmitted to the slave robot 10 through a wired or wireless communication network, thereby controlling the robot arm 11. That is, surgical operations such as positional movement, rotation, and cutting of the robot arm 11 may be performed by the handle manipulated by the operator O.
For example, the operator O can manipulate the slave robot arm 11 or the surgical tool 12 or the like by using a lever in the shape of a handle. These joysticks may have various mechanical structures depending on the manner in which they are operated, and may be provided in various shapes to activate the robotic arm 11 of the slave robot 10 and/or other surgical devices, such as a master handle to manipulate the operation of the slave robotic arm 11 or surgical tool 12, etc., various input tools attached to the master console 20 for manipulating the functions of the overall system, a keyboard, a trackball, a touch screen, etc.
The video captured by the surgical tool 12 is displayed as an image on the display unit of the main console 20. In addition, a predetermined virtual operation panel may be displayed on the display section together with the video photographed by the surgical tool 12, or may be displayed on the display section independently.
The display means may be provided in various shapes that the operator O can confirm the video. For example, the display device may be installed to correspond to both eyes of the operator O. As another example, it may be composed of one or more displays, and each display may individually display information required at the time of surgery. The number of display parts may be variously determined according to the type or kind of information to be displayed, etc.
The video system 30 may be installed to be spaced apart from each other from the slave robot 10 or the master console 20, and the case of performing the surgery may be confirmed from the outside through the display unit 35.
The video displayed on the display unit 35 may be the same as the video displayed on the display section of the operator O. Assistant a may assist the surgical operation of operator O while confirming the video of display unit 35. For example, the assistant a may exchange the surgical tool 12 on the instrument trolley 3 according to the situation in which the surgery is performed.
The central control unit 40 may be connected with the slave robot 10, the master console 20 and the video system 30 so as to transmit and receive corresponding signals.
Fig. 2 illustrates a host robot according to an embodiment of the present invention. The main robot according to an embodiment includes a lower arm (lower arm) 140, a middle arm (middlearm) 130, an upper arm (upper arm) 120, a handle 110, and a control unit (not shown).
The lower arm 140 is mounted to the base unit 200 on a roll axis y, a pitch axis x, and a yaw axis z of an inertial coordinate system for explaining the motion of the main robot 100 so as to be rotatable about the yaw axis. In addition, the intermediate arm 130 is attached to the lower arm 140 so as to be rotatable about a pitch axis. In addition, the upper arm 120 is mounted to the intermediate arm 130 so as to be rotatable about a yaw axis. In addition, the handle 110 is mounted to the upper arm 120 so as to be rotatable about the roll axis.
Fig. 3 is a drawing simply illustrating each component and its connection relationship in the host robot 100 shown in fig. 2.
Referring to fig. 3, one end 140a of the lower arm is connected to the base unit 200, and one end 130a of the middle arm is connected to the other end 140b of the lower arm, and one end 120a of the upper arm is connected to the other end 130b of the middle arm, and the handle 110 is connected to the other end 120b of the upper arm.
Fig. 2 and 3 are drawings showing an initial posture of the host robot 100, and the handle 110, the upper arm 120, the middle arm 130, and the lower arm 140 of the host robot 100 are configured to have a rotational degree of freedom with respect to each other, so that the posture of the host robot 100 may be changed according to an operator manipulating the handle 110.
For example, the operator may rotate the handle 110 about the roll axis, the yaw axis, and the pitch axis, the handle 110 rotates about the upper arm 120 by a first angle θ1 when the handle 110 rotates about the roll axis, and the upper arm 120 rotates about the middle arm 130 by a second angle θ2 when the handle 110 rotates about the yaw axis, and the middle arm 130 rotates about the lower arm 140 by a third angle θ3 when the handle 110 rotates about the pitch axis.
In this case, in order to expand the range in which the operator can manipulate with the handle 110, the control unit determines a clearance angle (fourth angle) to rotate the lower arm 140 around the base unit 200, and controls the lower arm 140 to rotate around the base unit 200 by the determined fourth angle θ4.
Here, when rotating in the same direction around the roll axis or the yaw axis based on the initial attitude, the signs of the first angle θ1, the second angle θ2, and the fourth angle θ4 are all set to be the same. The third angle θ3 may also be set to have the same sign as other angles for the same rotation direction.
For example, based on the initial posture, the first angle θ1 has a positive value when the handle 110 is rotated clockwise about the roll axis, the second angle θ2 has a positive value when the upper arm 120 is rotated clockwise about the yaw axis, and the fourth angle θ4 has a positive value when the lower arm 140 is rotated clockwise about the yaw axis. In this case, the clockwise direction refers to a direction in which the remaining four fingers of the right hand are rolled up when the thumb of the right hand is placed in the direction in which the respective axes are directed.
Since the control unit must be capable of performing basic logic operations, semiconductor devices having logic operation capabilities, such as a Central Processing Unit (CPU), a Micro Control Unit (MCU), a microprocessor, a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), and the like, may be used, but are not limited thereto.
Conventionally, in order to calculate the clearance angle, a method of projecting a jacobian matrix (jacobian) as a derivative function of a mapping relationship between a cartesian space velocity and a joint space velocity into a null-space (null-space) is used. Although this method is generally well used in robotics, there is a problem in that it is computationally intensive and causes a dead lock of the universal joint, i.e., it loses the directional freedom in a specific direction as shown in fig. 4.
In addition, as shown in fig. 5 and 6, the conventional method has a problem in that an operator feels resistance when manipulating the handle 110 when the intermediate arm 130 is rotated 90 degrees or-90 degrees around the lower arm 140.
In the present invention, the control unit determines the clearance angle, that is, the fourth angle θ4, to enable the operator to smoothly manipulate the handle 110 without generating a gimbal deadlock in the host robot 100, and hereinafter, a method of determining the clearance angle is reviewed based on the constitution of the host robot 100 shown in fig. 2.
Fig. 7 is a flowchart showing an example of a method of the control unit determining the clearance angle (fourth angle).
First, a first angle θ1 by which the handle 110 rotates about the upper arm 120, a second angle θ2 by which the upper arm 120 rotates about the intermediate arm 130, and a third angle θ3 by which the intermediate arm 130 rotates about the lower arm 140 are obtained (S11, S12, S13).
At this time, the rotation angle may be detected by an encoder. Various types of encoders such as an incremental Encoder (Incremental Encoder), an absolute Encoder (Absolute Encoder), a Magnetic Encoder (Magnetic Encoder), and a Potentiometer (Potentiometer) may be used for angle detection.
Next, a fourth angle θ4 is determined from the obtained first, second, and third angles θ1, θ2, and θ3 (S14). The lower arm 140 may be controlled to rotate by a determined fourth angle θ4 (S15).
Referring to fig. 8, to see step 14 in more detail (S14), the control unit determines whether the third angle θ3 has a value similar to 0 degrees (S141). Whether or not it has a value similar to 0 degrees can be determined by whether or not the third angle θ3 is in the range of-a degrees to +a degrees, where a is an arbitrary constant having 0 or in the vicinity thereof.
If the third angle θ3 has a value similar to 0 degrees, it is determined that the fourth angle θ4 is proportional to the second angle θ2 (S142). In this case, the fourth angle θ4 is determined to have the same sign as the second angle θ2.
If the third angle θ3 does not have a value similar to 0 degrees, it is determined whether the third angle θ3 has a value similar to 90 degrees or-90 degrees (S143). Whether the third angle θ3 has a value similar to 90 degrees or-90 degrees may be determined in a similar manner to step 141 (S141).
If the third angle θ3 has a value similar to 90 degrees or-90 degrees, it is determined that the fourth angle θ4 is proportional to the first angle θ1 (S144). In this case, the fourth angle θ4 is determined to have the same sign as the first angle θ1.
As described above, when the third angle θ3 has a value similar to 90 degrees or-90 degrees, that is, when the main robot 100 is manipulated in the posture shown in fig. 5 and 6, if it is determined that the clearance angle (fourth angle) is proportional to the first angle θ1 instead of proportional to the second angle θ2, the clearance angle (fourth angle) is determined according to the rotation component with respect to the yaw axis even if the posture of the main robot 100 is changed, so that the operator can smoothly manipulate the main robot 100.
If the third angle θ3 does not have a value similar to 90 degrees or-90 degrees, it is determined that the fourth angle θ4 is proportional to both the first angle θ1 and the second angle θ2 (S145). At this time, when the third angle θ3 has a value close to 0, the fourth angle θ4 may be determined by increasing the weight of the second angle θ2 instead of the first angle θ1, and when the third angle θ3 has a value close to 90 degrees or-90 degrees, the fourth angle θ4 may be determined by increasing the weight of the first angle θ1 instead of the second angle θ2.
The method of determining the clearance angle (fourth angle) according to the control unit described above may be represented by the following equation 1.
(1)
θ4＝k1*W1*θ1+k2*W2*θ2
In equation 1, k1 is a proportionality constant for adjusting a ratio of the fourth angle θ4 to the first angle θ1, and k2 is a proportionality constant for adjusting a ratio of the fourth angle θ4 to the second angle θ2, and W1 is a weight of the first angle θ1, and W2 is a weight of the second angle θ2. In addition, k1, k2, W1, and W2 are constituted by positive numbers.
W1 and W2 are determined by the third angle θ3, specifically, when the third angle θ3 is close to 0 degrees, W1 has a value close to 0 and W2 has a value close to 1, and when the third angle θ3 is close to 90 degrees or-90 degrees, it can be determined that W1 has a value close to 1 and W2 has a value close to 0.
For example, the relationship between W1, W2 and the third angle θ3 may be determined by the following equation 2.
(2)
W2＝k*cos(θ3)
W1＝1-W2
As another example, the relationship between W1, W2 and the third angle θ3 may be determined by the following equation 3.
(3)
W2＝b0*(θ3)n+b1*(θ3)n-1+...+bn-1*(θ3)+bn
W1＝1-W2
If the clearance angle (fourth angle) is determined using the formulas 1 to 3, the specific gravity of the second angle θ2 for determining the fourth angle θ4 is increased when the third angle θ3 is close to 0 degrees, and the specific gravity of the first angle θ1 for determining the fourth angle θ4 is increased when the third angle θ3 is close to 90 degrees or-90 degrees.
Accordingly, when the third angle θ3 is close to 90 degrees or-90 degrees, that is, when the main robot 100 is manipulated in the posture shown in fig. 5 and 6, since the clearance angle (fourth angle) is determined by decreasing the specific gravity of the second angle θ2 and increasing the specific gravity of the first angle θ1, the operator can smoothly manipulate the main robot 100.
Fig. 9 is a flowchart showing another example of the method of the control unit determining the clearance angle (fourth angle).
First, a first angular velocity w1, which is a yaw axis angular velocity component in the rotational angular velocity of the handle 110 with respect to the upper arm 120, and a second angular velocity w2, which is a yaw axis angular velocity component in the rotational angular velocity of the upper arm 120 with respect to the intermediate arm 130, are obtained (S21, S22).
In this case, the first angular velocity and the second angular velocity may be calculated using the rotation angle detected by the encoder, or may be obtained from the values sensed by the inertial sensor.
Next, a fourth angle θ4 is determined from the obtained first angular velocity w1 and second angular velocity w2 (S23). The lower arm 140 may be controlled to rotate by a determined fourth angle θ4 (S24).
The fourth angle may be determined to be proportional to the first angular velocity and the second angular velocity, for example, may be determined by the following equation 4.
(4)
θ4＝k3*w1+k4*w2
In equation 4, k3 is a proportionality constant for adjusting the ratio of the fourth angle θ4 to the first angular velocity w1, and k4 is a proportionality constant for adjusting the ratio of the fourth angle θ4 to the second angular velocity w 2.
When the clearance angle (fourth angle) is determined according to the above-described method, and the lower arm is controlled to rotate by the determined clearance angle (fourth angle), unlike the conventional method using a method of projecting a jacobian (jacobian) into a null-space, a gimbal deadlock can be avoided.
Although the embodiments have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements using the basic concept of the present invention as defined in the appended claims are within the scope of the present invention.

Claims (14)

1. A host robot, comprising: a lower arm mounted to the base unit to be rotatable about a yaw axis; a middle arm mounted to the lower arm so as to be rotatable about a pitch axis; an upper arm mounted to the intermediate arm so as to be rotatable about the yaw axis; a handle mounted to the upper arm so as to be rotatable about a roll axis; and a control unit that determines a fourth angle of rotation of the lower arm about the base unit according to a first angle of rotation of the handle about the upper arm, a second angle of rotation of the upper arm about the intermediate arm, and a third angle of rotation of the intermediate arm about the lower arm,
wherein when the third angle has a value similar to 0 degrees, the control unit determines the fourth angle according to the second angle.
2. The host robot of claim 1, wherein the control unit determines the fourth angle according to the first angle when the third angle has a value similar to 90 degrees or-90 degrees.
3. The host robot of claim 1, wherein the control unit determines the fourth angle as being proportional to the first angle and the second angle.
4. A host robot according to claim 3, wherein when the third angle is close to 0 degrees, the control unit determines the fourth angle to give a greater weight to the second angle than the first angle so as to be proportional to the second angle, and when the third angle is close to 90 degrees or-90 degrees, determines the fourth angle to give a greater weight to the first angle than the second angle so as to be proportional to the first angle.
5. The host robot of claim 3, wherein the control unit determines the fourth angle θ4 by (formula) θ 4 ＝k 1 *W 1 *θ 1 +k 2 *W 2 *θ 2 And in the formula, θ1 is the first angle, and θ2 is the second angle, and k1 is a proportionality constant for adjusting a ratio of the fourth angle to the first angle, and k2 is a proportionality constant for adjusting a ratio of the fourth angle to the second angle, and W1 is a weight of the first angle, and W2 is a weight of the second angle.
6. The host robot of claim 5, wherein when the third angle is close to 0 degrees, the W1 has a value close to 0 and the W2 has a value close to 1, and when the third angle is close to 90 degrees or-90 degrees, the W1 has a value close to 1 and the W2 has a value close to 0.
7. The host robot of claim 6, wherein the W2 is determined by a cos function of the third angle, and the W1 is determined as a sum of 1 with the W2.
8. The host robot of claim 6, wherein the W2 is determined by a polynomial function of the third angle, and the W1 is determined to be a sum of 1 with the W2.
9. The master robot of claim 1, wherein a slave arm to which a surgical tool is mounted is manipulated according to an operation of the handle.
10. A method of controlling a host robot, wherein the host robot comprises: a lower arm mounted to the base unit to be rotatable about a yaw axis; a middle arm mounted to the lower arm so as to be rotatable about a pitch axis; an upper arm mounted to the intermediate arm so as to be rotatable about the yaw axis; a handle mounted to the upper arm so as to be rotatable about a roll axis, and comprising the steps of: obtaining a first angle of rotation of the handle about the upper arm; obtaining a second angle of rotation of the upper arm about the intermediate arm; obtaining a third angle of rotation of the intermediate arm about the lower arm; determining a fourth angle of rotation of the lower arm about the base unit as a function of the first angle, the second angle, and the third angle; and controlling the lower arm to rotate about the base unit by the determined fourth angle,
wherein the fourth angle is determined by the second angle when the third angle has a value similar to 0 degrees.
11. The control method of a main robot according to claim 10, wherein the fourth angle is determined by the first angle when the third angle has a value similar to 90 degrees or-90 degrees.
12. The control method of a main robot according to claim 10, wherein the fourth angle is determined so as to be proportional to the first angle and the second angle.
13. The control method of the host robot according to claim 12, wherein when the third angle is close to 0 degrees, the fourth angle is determined to give a greater weight to the second angle than the first angle so as to be proportional to the second angle, and when the third angle is close to 90 degrees or-90 degrees, it is determined to give a greater weight to the first angle than the second angle so as to be proportional to the first angle.
14. A host robot, comprising: a lower arm mounted to the base unit to be rotatable about a yaw axis; a middle arm mounted to the lower arm so as to be rotatable about a pitch axis; an upper arm mounted to the intermediate arm so as to be rotatable about the yaw axis; a handle mounted to the upper arm so as to be rotatable about a roll axis; and a control unit that determines a fourth angle at which the lower arm rotates about the base unit, based on a first angular velocity that is a yaw axis component of an angular velocity at which the handle rotates about the upper arm and a second angular velocity that is a yaw axis component of an angular velocity at which the upper arm rotates about the intermediate arm,
wherein the control unit determines the fourth angle as being proportional to the first angular velocity and the second angular velocity.
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